Tong quan robot cong nghiep

*Ky thuat RB K56 K-TH (20142)*EE4341- K THUT robot Lp :79141

TS. Nguyn Mnh Tin (Email : [email protected])

S tit : 64 tit L thuyt: 52 Bi tp ln : 12 (1 bi tp ln) nh gi : Thi : 75 % Qu trinh : 25 %

Ky thuat RB K56 K-TH (20142)

*Ky thuat RB K56 K-TH (20142)*Mc tiu hc phn v kt qu mong i Trang b nhng kin thc c bn v robot v robot cng nghip Hiu su sc v cu hnh ca mt c cu robot; Phn tch, tnh ton m hnh ton hc mt c cu robor; Thit k tnh ton hon chnh mt h thng iu khin c cu robot;


*Ky thuat RB K56 K-TH (20142)*L thuyt (48 tit)Chng 1 : Tng quan robot cng nghip (4 tit) Chng 2 : ng hc v tr Robot (8 tit)Chng 3 : ng hc v tr vi sai (4 tit) Chng 4 : ng lc hc (6 tit) Chng 5 : iu khin robot (18 tit) Chng 6 : C cu chp hnh v cm bin (4 tit)n tp : 4 tit


*Ky thuat RB K56 K-TH (20142)*Bi tp ln (16 tit)Ni dung : La chn : 1. Tnh ton : ng hc v tr, ng lc hc v Thit k h thng iu khin v m phng Matlab.2. Nghin cu mt c cu robot trong cng nghipThi gian : c ngh 8-12 tit lm bi tp+ ng k : Trc ngy 24/1+ Tun 25 (29/1) : Giao BTL+ Tun 40 (14/5) : Thu BTL+ Tun 42 (28/5) : Nhm nghin cu trnh by


*Ky thuat RB K56 K-TH (20142)*Ti liu tham kho

Ting Vit : 1. Nguyn Mnh Tin - iu khin Robot cng nghip - Nh xut bn Khoa hc K thut 2007, 2012. 2. Nguyn Thin Phc . Robot cng nghip. Nh Xut bn KHKT.2006Ting Anh : 3. Paul Richard P. Robot manipulator. The MIT Press. 19824. Tsuneo Yoshikawa . Foundation of Robot : Analysis and control. MIT. 1990.5. Wesley E Sneyder. Industrial Robots : Computet Interfacing and Control. Prentice Hall.6. J. Somlo, B. Lanto, P.T. Cat. Advanced Robot Control. Akademia Kiado. Budapest. 1997.7. King sun Robotics : Control, Sensing, Vision and Intelligent. McGraw Hill. , 1987.8. Mikell P. Groover , et al. Industrial Robotics : Technology Gramming and Application. McGraw Hill. 1996.9. Lorenzo Sciaviacco, Bruno Siciliano. Modeling and Control Manipulator. The McGraw-Hill Companies, Inc. 358 trang.10. Lewis F.L. , Abdallah C.T. , Dawson D.M. Control of Robot Manipulator. Macmillan Publishing Company, 1993.


*Ky thuat RB K56 K-TH (20142)*Chng 1 Tng quan robot cng nghip


*Ky thuat RB K56 K-TH (20142)*nh ngha v ROBOT CNG NGHIPThut ng Robot xut hin ln u tin nm 1920 trong v kch ca nh vit kch ngi Tip Karel Capeck : Ging ngi, khe, lm vic gp I ngi.Vin Robot ca Hoa k : Robot c cu a chc nng c lp trnh trc vi cc cm bin bn ngoi, c th thc hin cc chc nng (task) : Lp rp, vn chuyn.K thut : Robot cnh tay vi bc t do, thc hin cc chuyn ng nh tay ngi v c iu khin bng my tnh.Robot cng nghip C cu lp trinh c v c th thc hin t ng cc cng vic hu ch m khng c s tr gip ca con ngi.Hi nh ch to ngi s dng : Robot thit b c th thao tc cc chc nng nh con ngi v hp tc nhau thng minh.


*Ky thuat RB K56 K-TH (20142)*Lch s pht trin

Thi gianS kin quan trngGia th k17180118051892

1938

1946J. de Vancanson ch to mt s bp b c kh nh nhc.J. Jacquard pht minh khung dt vai c th lp trinhH. Maillader ch to bp b c kh bit v tranh.S. Babbitt (M) thit k mt cn trc truyn ng ng c c c cu kp gp thi thp c ra khi l nung.W. Pollard v H. Roselund (M) thit k mt c cu phun sn lp trinh cho cng ty DeVilbissG.C. Devol (M) sng ch thit b iu khin c th ghi li tn hiu in bng t ho, sau c s dng iu khin mt my c kh.


*Ky thuat RB K56 K-TH (20142)*

1951

1952

19541960

1961 1962C cu tay my iu khin t xa c th mang cc vt liu phng x c ch to.Mu my iu khin s u tin c trng by Vin cng ngh Massachusetts sau mt vi nam nghin cu ch to. G.C. Devol ang k ban quyn pht minh thit k Robot.Robot "Unimate" u tin c gii thiu l Robot truyn ng thu lc; n s dng dng nguyn l iu khin s cho iu khin c cu tay my.Cng ty Ford lp t Robot Unimate.Cng ty General Motor (GM) lp t robot cng nghip u tin (robot Unimate) trong dy chuyn san xut



19661968

1970

1971

1973

1974Cng ty Trallfa (Nauy) lp t Robot phun sn.Robot di chuyn "Shakey" c ch to ti Vin Nghin cu Stanford (M) . Robot ny c trn b mt s cam bin tip xc, my tinh, c th di chuyn trn mt sn.Tay my Stanford l Robot nh iu khin bng in c ch to Trng Di hc Stanford (M).Hip hi robot cng nghip Nht (JIRA) bt u xut s dng robot trong cng nghip Nht .Vin Nghin cu Stanford (M) cng b ngn ng lp trinh my tnh u tin cho Robot trn : WAVE.ASEA gii thiu Robot IRb6 vi h truyn ng in.



19741975

1976

19781978

1979Cng ty Cincinnati Milacron gii thiu Robot T3 iu khin bng my tnh.Robot "Sigma" c s dng trong cng nghip lp rp - l mt trong ng dng Robot trong dy chuyn lp rp u tin.Phng th nghim Charles Stack Draper (M) ch to c cu nhn c tm xa s dng cho Robot lp rp.Robot PUMA (my lp rp vn nng c th lp trinh) c trinh din.Robot T3 ca hng Cincinnati Milacron c lp trinh thc hin cc cng vic khoan v hn trn cc b phn ca my bay.Robot SCARA c sng ch cho dy chuyn lp rp Trng Di hc Yamanashi (Nht). Mt s Robot thng mi ny c gii thiu vo 1981



1980

1981

198219841986

1991Robot cng nghip bt u mt thi k pht trin nhanh, vi cc robot mi .Robot truyn ng trc tip (DDR) c sng ch Trng i hc Carnegie-Mellon.Hng my tnh IBM ch to Robot RS-1 cho lp rp.Mt s h thng lp trinh "OFF-line" c trinh din cho Robot.ng dng robot tip tc pht trin mnh tp trung vo tch hp robot trong cc dy chuyn san xut linh hot (FMS) v h thng CIM.Bc pht trin mi ca nn kinh t th gii vi tp trung sn xut cc san phm phc tp v ng dng cng ngh vi in t v cng ngh hin th trong robot ca dy chuyn sn xut t ng ha.


*Ky thuat RB K56 K-TH (20142)*Cu trc chung robot CNC cu robot.Ngn trn t iu khinB iu khinPanel iu khinCp ni

Cc khu chnh :+ C cu robot.+ B iu khin+ Panel iu khin+ Phn mm+ Cc khu ph.


*Ky thuat RB K56 K-TH (20142)*Cu trc chung robot CN3 H thng : + H thng chuyn ng + H thng iu khin + H thng nhn dng


*Ky thuat RB K56 K-TH (20142)*He thong chuyen dong


*Ky thuat RB K56 K-TH (20142)*Khp robot


*Ky thuat RB K56 K-TH (20142)*C tay robot


*Ky thuat RB K56 K-TH (20142)* C cu bn tay

+ C cu kp (Gripper)+C cu dng c (Tool)


*Ky thuat RB K56 K-TH (20142)*Cc DNG C cu Hnh hcC cu decac


*Ky thuat RB K56 K-TH (20142)*C cu Hnh tr


*Ky thuat RB K56 K-TH (20142)*C cu Hnh cu


*Ky thuat RB K56 K-TH (20142)*C cu khp ni


*Ky thuat RB K56 K-TH (20142)*C cu scara(Selective Complian Assembly Robot Arm)C cu adeptone



C cu hnh trC cu ccC cu hnh cuC cu SCARAC cu khp ni


*Ky thuat RB K56 K-TH (20142)*S khi h thng iu khin robot


MY TNH VI IU KHIN

K1

BB1

1

TL1

K1

E1

Kn

BBn

n

TLn

Kn

En

K2

*Ky thuat RB K56 K-TH (20142)*Cu hnh h thng iu khin robot


*Ky thuat RB K56 K-TH (20142)*Cu hnh iu khin robot SCARA (Phng TN B mn TH)


*Ky thuat RB K56 K-TH (20142)*MT S DNG ROBOT


*Ky thuat RB K56 K-TH (20142)*Dang RB1


*Ky thuat RB K56 K-TH (20142)*Dang RB2


*Ky thuat RB K56 K-TH (20142)*Robot LR mate 100 (Fanuc)


*Ky thuat RB K56 K-TH (20142)*Robot LR mate 100 (Fanuc)ng dng : Lp rp, bc d, hn, gio dc

c tnh k thut : 5trc ; khi lng tI : 4 kg; lp li : 0.04 mm

Trc 1 320 o150 o/sTrc 2180150 o/s

Trc 3 360180 o/s

Trc 4 240100 o/s

Trc 5 400240 o/s


*Ky thuat RB K56 K-TH (20142)*Robot KUKA KR 1000 1300 titan PAThng s k thut chnh :

+ Trng ti nh mc : 1300 kg+ Tm vi ln nht : 3,202 m+ Trng lng : 4690 kg

TrcGii hn lm vicTc gc1 150o58o/s2+ 17,5o -- -130o50o/s3+145o -- - 110o50o/s4 350o60o/s5 118o60o/s6 350o72o/s


*Ky thuat RB K56 K-TH (20142)*Robot IRB 1200-7/0.7 (ABB)

Nh hn 15 %, Nhanh hn 10 %


*Ky thuat RB K56 K-TH (20142)*Robot IRB 1200 (ABB)


*Ky thuat RB K56 K-TH (20142)*Robot Funuc M h to tr


*Ky thuat RB K56 K-TH (20142)*Robot Universal -15 (to cu)


*Ky thuat RB K56 K-TH (20142)*Robot Puma 760


*Ky thuat RB K56 K-TH (20142)*ng dng Robot


*Ky thuat RB K56 K-TH (20142)* 1. Trong cng nghipng dng trong vn chuyn, bc d vt liung dng trong gia cng vt liu

+ Hn, gia cng kim loi , snng dng trong lp rp, kim tra

+ Lp rp c kh, in t,+ Kim tra o kch thc my, chi tit+ Kim tra cht lng sn phm

2. Trong gio dc, y t3. Lnh vc khc


*Ky thuat RB K56 K-TH (20142)*Vn chuyn, bc d vt liu


*Ky thuat RB K56 K-TH (20142)*Phc v my tin


*Ky thuat RB K56 K-TH (20142)*Robot phi hp lm vic trn dy chuyn t ng


*Ky thuat RB K56 K-TH (20142)*ng dng trong CN hn


*Ky thuat RB K56 K-TH (20142)*ng dng trong sn oto


*Ky thuat RB K56 K-TH (20142)*Robot lm vic trn dy chuyn hn v t Toyota


*Ky thuat RB K56 K-TH (20142)*ng dng trong lp rp


*Ky thuat RB K56 K-TH (20142)*Robot kim tra kch thc t


*Ky thuat RB K56 K-TH (20142)*My kim tra kch thc


*Ky thuat RB K56 K-TH (20142)*ng dng robot trong y tRobot RP-VITA chm sc bnh nhn thng qua giao din iPad gn trn robot


*Ky thuat RB K56 K-TH (20142)*S lng robot


*Ky thuat RB K56 K-TH (20142)*S lng Robot 1994-2012


*Ky thuat RB K56 K-TH (20142)*S lng Robot sn xut 2003 - 2012D bo 2013-2016


*Ky thuat RB K56 K-TH (20142)*S lng Robot sn xut hng nm cc ngnh Cng nghip


*Ky thuat RB K56 K-TH (20142)*S lng Robot sn xut 2011-2012 D bo 2013-2016


*Ky thuat RB K56 K-TH (20142)*S lng Robot bn 2011-2012 D bo 2013-2016


*Ky thuat RB K56 K-TH (20142)*S lng Robot sn xut 2011-2012 D bo 2013-2016


*Ky thuat RB K56 K-TH (20142)*S lng Robot 2011-2012 D bo 2013-2016


*Ky thuat RB K56 K-TH (20142)*Mt vi nt v nghin cu Robot VNPhng th nghim TH (GS Nguyn Thin Phc) : Robot iu khin kh nn, in, x l nh,1996-2000 : ti KHCN 10-04 : Nghin cu thit k ch to h thng thit b iu khin thng minh phc v TH v bo v mI trng :

+ Robot trong x nghip dc phm.+ Robot sn xe tng.+ Robot xc than m.+ Ging dy robot Trng H.2001- : ti NCKH cp nh nc : Nghin cu RB.2008-2010 : ti KC.03.06/06-10 : Nghin cu thit k v ch to Robot hn t hnh phc v cho ngnh ng tu Vit nam"



ti KC.03.06/06-10 (2008-2010 )


*Ky thuat RB K56 K-TH (20142)* ti KC.03.06/06-10 (2008-2010 )


*Ky thuat RB K56 K-TH (20142)*Mt s hng nghin cu v robotiu khin PID kinh iniu khin thch nghi : Nhn dng tham s + b iu khin.iu khin bn vng : + S dng l thuyt Liapunov.

+ iu khin m. + iu khin trt c bn v nng cao + iu khin m - trt (FSMC) + iu khin trt thch nghi (SMAC) + iu khin m - trt Thch nghi n tt nghip ca cc khaiu khin Robot x l nh (K47, K48, K49)iu khin Robot theo qu o ni suy (K50)iu khin Robot theo qu o + thu thp d liu (K52) H thng K qui o + thu thp d liu (K53)K56 : H thng K qui o : Mt s lut K phc tp , K lc


*Ky thuat RB K56 K-TH (20142)*Mt s lun n TS v Th.S v Robot 1. Nguyn Nh Hin (NCS----2003) H thng iu khin thch nghi bn vng2. V Quang Vinh (NCS -----2004) Nghin cu h iu khin m cho c cu tay my2. Nguyn Hong Mai (NCS 2002-2008) Nng cao cht lng h iu khin chuyn ng bng phng php thch nghi mode trt3. Hunh Tr Thanh (CH 2002-2004) : Nng cao cht lng iu khin chuyn ng RB dng phng php K thch nghi t chnh (LH thch nghi)4. Vng Th Diu Hng (CH 2003-2005) K v m phng RB dng ngn tay5. Bi Khnh Ho (CH 2003-2005) Nng cao cht lng iu khin chuyn ng RB dng phng php K bn vng.6. V Ph Cng (CH 2005-2007) H thng K bn vng thch nghi cho RB7. Ng Vit Ho (CH 2006-2008) K RB s dng phng php Jacoby xp x8. Bi Trung Hiu (CH 2008-2009) K Chuyn ng vi kh rng buc cc khp9. Nguyn Danh Tun (CH 2010-2012) H thng K v tr chnh xc cao cho tay my 2 bc t do.


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Tong quan robot cong nghiep